Development of EPS+ (Electric Power Steering Plus)

Sumio MOTOYAMA*

Abstract
A new control algorithm called EPS+ was developed for electric power steering and adopted in the 2008-model i. It improves the steering feel and vehicle stability. Key words: Steering System, Electric Power Steering

1. Introduction
The use of electric power steering (EPS) systems is spreading rapidly thanks to their fuel efficiency compared with hydraulic systems. As a result, the steering feeling of EPS, which was a weakness, has been improved almost to the level of hydraulic steering systems. Nevertheless, research is underway to improve the steering feeling further by using the high degree of control freedom that is characteristic of EPS systems(1)(2). Our newly developed EPS+ is an EPS control algorithm for improving the steering feeling while assuring vehicle motion stability. This paper introduces aspects of the EPS+ in the 2008 model Mitsubishi i.

Fig. 1

Outline of EPS+ control

2. EPS+ control
Fig. 1 shows an outline of the EPS+ control. To the assist control provided by the previous type of EPS, the EPS+ adds two new controls: self-alignment estimation control and vehicle motion estimation control (Fig. 1). 2.1 Self-alignment estimation control The self-alignment estimation control uses both the EPS sensor information and internally programmed EPS control information to estimate the self-alignment torque that is generated between the vehicles tires and the road surface. The self-alignment torque thus estimated is used to add a steering torque corresponding to the torque by means of an electric motor. This control allows the driver to feel the self-alignment torque clearly through the steering wheel, and so the steering feels more natural. Fig. 2 schematically shows how the effects of this control are produced. 2.2 Vehicle motion estimation control The vehicle motion estimation control uses the steering angular velocity information internally programmed in the EPS system to estimate how the vehicle is likely to turn. According to the estimation, the control adds as much steering torque as necessary to suppress the likelihood of changes in direction. This control helps improve yaw damping of the vehicle at high speeds, so the driver needs to make fewer adjust* Advanced Vehicle Engineering Dept., Development Engineering Office

Fig. 2

Effect of self-alignment estimation control

ments to the steering wheel. Fig. 3 schematically shows the effect of this control. 2.3 Assist control To maximize the effects of these two new controls, the assist control has been completely retuned. Specifically, the assist current relative to each steering torque is set lower compared with the conventional setting to give a slightly heavier steering feeling, while lowering the setting of the damping control current to give a more responsive steering feeling.

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Development of EPS+ (Electric Power Steering Plus)

Fig. 4

Improvement of steering returnability

Fig. 3

Effect of vehicle motion estimation control

3. Effects of the EPS+

Fig. 4 shows the results of the steering wheel selfaligning (returning to neutral) test at low speeds. It shows that the additional torque of the self-alignment estimation control provided by the EPS+ offsets part of the friction in the steering system and so enhances the self-aligning of the steering wheel. Fig. 5 shows the results of the free steer stability test conducted at a vehicle speed of 100 km/h. As is evident from the figure, the conventional EPS suffers greater yaw oscillation after releasing the steering wheel than EPS+, in which the torque added by the vehicle motion estimation control effectively suppresses changes in vehicle motion and thus improves damping of the yaw oscillation.

Fig. 5

Improvement of free steer stability

(1) (2)

References Tanaka et al.: The Torque Controlled Active Steer for EPS, AVEC04, pp. 501 506 Kubota et al.: Influence of Transient Steering Assist Characteristics on Motion of Vehicle, Proceedings of JSAE Symposium, No. 75-05, pp. 9 14, 2005

4. Conclusion
Application of EPS+ to the Mitsubishi i has improved the light steering feeling that is common to midship engine vehicles and increased the vehicles motion stability at high speed. In future we will focus on applying the EPS+ to more Mitsubishi Motors Corporation models, and on developing harmonized control of the steering and other systems.

Sumio MOTOYAMA

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